The central bank's monetary policy commission (Copom) said the decision continued the process of adjustment begun last April, when the rate stood at 7.25 percent.
Copom did not rule out further rate increases.
Markets had been expecting the increase; some analysts think the rate will rise to 11.25 percent before the end of 2014.
President Dilma Rousseff, who is widely expected to win re-election in October, had pushed for lowering borrowing costs to stimulate domestic consumption and investments.
The government and market analysts say Brazil's GDP growth in 2013 reached 2.3 percent. This year analysts are banking on two-percent growth.